Real-time Tactical Motion Planning and Obstacle Avoidance for Multi-Robot Cooperative Reconnaissance

Adrian Boeing; Sushil Pangeni; Thomas Braunl; C.S. Lee

doi:10.1109/ICSMC.2012.6378270

Real-time Tactical Motion Planning and Obstacle Avoidance for Multi-Robot Cooperative Reconnaissance

Adrian Boeing, Sushil Pangeni, Thomas Braunl, C.S. Lee

Research output: Chapter in Book/Conference paper › Conference paper › peer-review

2 Citations (Scopus)

Abstract

A key requirement for any mobile robot is achieving safe motions. This is especially difficult in a large dynamic environment where hostile objects must be avoided with incomplete information. This paper presents a novel hierarchical architecture that Team MAGICian developed, which integrates multi-vehicle tactical planning, path planning, collision avoidance, trajectory generation and dynamic vehicle control. The system is designed for a fleet of six Unmanned Ground Vehicles (UGVs) executing an Intelligence, Surveillance and Reconnaissance (ISR) mission in a large urban environment for the Multi Autonomous Ground-robotic International Challenge (MAGIC 2010).

Original language	English
Title of host publication	2012 IEEE International Conference on Systems, Man, and Cybernetics
Place of Publication	United States
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	3117-3122
Volume	1
ISBN (Print)	9781467317146
DOIs	https://doi.org/10.1109/ICSMC.2012.6378270
Publication status	Published - 2012
Event	2012 IEEE International Conference on Systems, Man, and Cybernetics - Seoul, Korea, Republic of Duration: 14 Oct 2012 → 17 Oct 2012

Conference

Conference	2012 IEEE International Conference on Systems, Man, and Cybernetics
Country/Territory	Korea, Republic of
City	Seoul
Period	14/10/12 → 17/10/12

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10.1109/ICSMC.2012.6378270

Cite this

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title = "Real-time Tactical Motion Planning and Obstacle Avoidance for Multi-Robot Cooperative Reconnaissance",

abstract = "A key requirement for any mobile robot is achieving safe motions. This is especially difficult in a large dynamic environment where hostile objects must be avoided with incomplete information. This paper presents a novel hierarchical architecture that Team MAGICian developed, which integrates multi-vehicle tactical planning, path planning, collision avoidance, trajectory generation and dynamic vehicle control. The system is designed for a fleet of six Unmanned Ground Vehicles (UGVs) executing an Intelligence, Surveillance and Reconnaissance (ISR) mission in a large urban environment for the Multi Autonomous Ground-robotic International Challenge (MAGIC 2010).",

author = "Adrian Boeing and Sushil Pangeni and Thomas Braunl and C.S. Lee",

year = "2012",

doi = "10.1109/ICSMC.2012.6378270",

language = "English",

isbn = "9781467317146",

volume = "1",

pages = "3117--3122",

booktitle = "2012 IEEE International Conference on Systems, Man, and Cybernetics",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2012 IEEE International Conference on Systems, Man, and Cybernetics ; Conference date: 14-10-2012 Through 17-10-2012",

}

Boeing, A, Pangeni, S, Braunl, T & Lee, CS 2012, Real-time Tactical Motion Planning and Obstacle Avoidance for Multi-Robot Cooperative Reconnaissance. in 2012 IEEE International Conference on Systems, Man, and Cybernetics. vol. 1, IEEE, Institute of Electrical and Electronics Engineers, United States, pp. 3117-3122, 2012 IEEE International Conference on Systems, Man, and Cybernetics, Seoul, Korea, Republic of, 14/10/12. https://doi.org/10.1109/ICSMC.2012.6378270

Real-time Tactical Motion Planning and Obstacle Avoidance for Multi-Robot Cooperative Reconnaissance. / Boeing, Adrian; Pangeni, Sushil; Braunl, Thomas et al.

2012 IEEE International Conference on Systems, Man, and Cybernetics. Vol. 1 United States : IEEE, Institute of Electrical and Electronics Engineers, 2012. p. 3117-3122.

Research output: Chapter in Book/Conference paper › Conference paper › peer-review

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AU - Boeing, Adrian

AU - Pangeni, Sushil

AU - Braunl, Thomas

AU - Lee, C.S.

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AB - A key requirement for any mobile robot is achieving safe motions. This is especially difficult in a large dynamic environment where hostile objects must be avoided with incomplete information. This paper presents a novel hierarchical architecture that Team MAGICian developed, which integrates multi-vehicle tactical planning, path planning, collision avoidance, trajectory generation and dynamic vehicle control. The system is designed for a fleet of six Unmanned Ground Vehicles (UGVs) executing an Intelligence, Surveillance and Reconnaissance (ISR) mission in a large urban environment for the Multi Autonomous Ground-robotic International Challenge (MAGIC 2010).

U2 - 10.1109/ICSMC.2012.6378270

DO - 10.1109/ICSMC.2012.6378270

M3 - Conference paper

SN - 9781467317146

VL - 1

SP - 3117

EP - 3122

BT - 2012 IEEE International Conference on Systems, Man, and Cybernetics

PB - IEEE, Institute of Electrical and Electronics Engineers

CY - United States

T2 - 2012 IEEE International Conference on Systems, Man, and Cybernetics

Y2 - 14 October 2012 through 17 October 2012

ER -

Real-time Tactical Motion Planning and Obstacle Avoidance for Multi-Robot Cooperative Reconnaissance

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